kalman_filter Class Reference

#include <kalman_filter.h>

List of all members.

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Detailed Description

Definition at line 28 of file kalman_filter.h.

Public Member Functions
vgl_point_2d< double >	get_cur_epipole () const
	get backprojection for debugging.
vcl_vector< vnl_matrix< double > >	get_back_projection () const
vnl_matrix< double >	get_predicted_curve ()
	predict next curve.
vnl_double_3	get_next_motion (vnl_double_3 v)
vcl_vector< vgl_point_2d< double > >	get_pre_observes ()
vcl_vector< vgl_point_2d< double > >	get_cur_observes ()
vcl_vector< vgl_point_2d< double > >	get_next_observes ()
vcl_vector< vgl_point_3d< double > >	get_local_pts ()
bugl_curve_3d	get_curve_3d ()
void	read_data (const char *fname)
	read all the data including time stampes, trackers.
vcl_vector< vdgl_digital_curve_sptr >	read_tracker_file (char *fname)
	read vishual tracker result out of a file.
void	init ()
	initialize the kalman filter states.
void	init_epipole (double x, double y)
void	inc ()
vnl_double_2	projection (const vnl_double_3x4 &P, const vnl_double_3 &X)
	kalman_filter ()
	constructors.
	kalman_filter (const char *fname)
virtual	~kalman_filter ()
Protected Member Functions
vcl_vector< double >	read_timestamp_file (char *fname)
	read time stamp.
double	matched_point_prob (vnl_double_2 &z, vnl_double_2 &z_pred)
	if the zero probability returned, the matched point is a outlier.
vnl_matrix_fixed< double, 6, 6 >	get_transit_matrix (int i, int j)
	get time interval from ith frame to j-th frame.
void	update_confidence ()
	update the confidence for each 3d point.
void	update_observes (const vnl_double_3x4 &P, int iframe)
	update the matched points in the next frame using closest neighbour.
void	init_velocity ()
vnl_matrix_fixed< double, 2, 6 >	get_H_matrix (vnl_double_3x4 &P, vnl_double_3 &Y)
	set linearized observation matrix.
vnl_double_3x4	get_projective_matrix (const vnl_double_3 &v) const
	compute projective matrix from predicted position.
void	init_covariant_matrix ()
void	init_cam_intrinsic ()
void	init_state_3d_estimation ()
void	init_transit_matrix ()
Private Attributes
bugl_curve_3d	curve_3d_
	position and confidence of feature samples.
vcl_vector< double >	prob_
vcl_vector< vcl_vector< bugl_gaussian_point_2d< double > > >	observes_
	used for matching point.
vcl_vector< double >	time_tick_
	each element represents shooting times for this frame.
vcl_vector< vcl_vector< vdgl_digital_curve_sptr > >	trackers_
	each element of the vector represents a projection of the same 3D curves.
vcl_vector< vnl_double_3 >	motions_
int	cur_pos_
	current frame position in history pool.
int	queue_size_
int	num_points_
int	memory_size_
	how much the queue has been used.
vnl_vector_fixed< double, 6 >	X_
	state vector.
vnl_matrix_fixed< double, 6, 6 >	Q_
	covariant matrix of state vector.
vnl_matrix_fixed< double, 6, 2 >	G_
	constraint kalman gain matrix.
vnl_matrix_fixed< double, 2, 2 >	R_
	initial covariant matrix of state vector.
vnl_matrix_fixed< double, 6, 6 >	Q0_
	covariant matrix of 2D projection.
vnl_double_2 *	e_
	initial epipole.
vnl_double_3x3	K_
	camera intrinsic parameters.
Static Private Attributes
static const double	large_num_
	used to denote outlier point in image.

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Constructor & Destructor Documentation

kalman_filter::kalman_filter (   )

constructors.

kalman_filter::kalman_filter (  const char *  fname  )

virtual kalman_filter::~kalman_filter (   )  [virtual]

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Member Function Documentation

vcl_vector<vnl_matrix<double> > kalman_filter::get_back_projection (   )  const

vgl_point_2d<double> kalman_filter::get_cur_epipole (   )  const

get backprojection for debugging.

vcl_vector<vgl_point_2d<double> > kalman_filter::get_cur_observes (   )

bugl_curve_3d kalman_filter::get_curve_3d (   )

vnl_matrix_fixed<double, 2, 6> kalman_filter::get_H_matrix (  vnl_double_3x4 &  P, vnl_double_3 &  Y )  [protected]

set linearized observation matrix.

vcl_vector<vgl_point_3d<double> > kalman_filter::get_local_pts (   )

vnl_double_3 kalman_filter::get_next_motion (  vnl_double_3  v  )

vcl_vector<vgl_point_2d<double> > kalman_filter::get_next_observes (   )

vcl_vector<vgl_point_2d<double> > kalman_filter::get_pre_observes (   )

vnl_matrix<double> kalman_filter::get_predicted_curve (   )

predict next curve.

vnl_double_3x4 kalman_filter::get_projective_matrix (  const vnl_double_3 &  v  )  const [protected]

compute projective matrix from predicted position.

vnl_matrix_fixed<double, 6, 6> kalman_filter::get_transit_matrix (  int  i, int  j )  [protected]

get time interval from ith frame to j-th frame.

void kalman_filter::inc (   )

void kalman_filter::init (   )

initialize the kalman filter states.

void kalman_filter::init_cam_intrinsic (   )  [protected]

void kalman_filter::init_covariant_matrix (   )  [protected]

void kalman_filter::init_epipole (  double  x, double  y )

void kalman_filter::init_state_3d_estimation (   )  [protected]

void kalman_filter::init_transit_matrix (   )  [protected]

void kalman_filter::init_velocity (   )  [protected]

double kalman_filter::matched_point_prob (  vnl_double_2 &  z, vnl_double_2 &  z_pred )  [protected]

if the zero probability returned, the matched point is a outlier.

vnl_double_2 kalman_filter::projection (  const vnl_double_3x4 &  P, const vnl_double_3 &  X )

void kalman_filter::read_data (  const char *  fname  )

read all the data including time stampes, trackers.

vcl_vector<double> kalman_filter::read_timestamp_file (  char *  fname  )  [protected]

read time stamp.

vcl_vector<vdgl_digital_curve_sptr> kalman_filter::read_tracker_file (  char *  fname  )

read vishual tracker result out of a file.

void kalman_filter::update_confidence (   )  [protected]

update the confidence for each 3d point.

void kalman_filter::update_observes (  const vnl_double_3x4 &  P, int  iframe )  [protected]

update the matched points in the next frame using closest neighbour.

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Member Data Documentation

int kalman_filter::cur_pos_ [private]

current frame position in history pool. Definition at line 107 of file kalman_filter.h.

bugl_curve_3d kalman_filter::curve_3d_ [private]

position and confidence of feature samples. Definition at line 93 of file kalman_filter.h.

vnl_double_2* kalman_filter::e_ [private]

initial epipole. Definition at line 130 of file kalman_filter.h.

vnl_matrix_fixed<double, 6, 2> kalman_filter::G_ [private]

constraint kalman gain matrix. Definition at line 121 of file kalman_filter.h.

vnl_double_3x3 kalman_filter::K_ [private]

camera intrinsic parameters. Definition at line 133 of file kalman_filter.h.

const double kalman_filter::large_num_ [static, private]

used to denote outlier point in image. Definition at line 136 of file kalman_filter.h.

int kalman_filter::memory_size_ [private]

how much the queue has been used. Definition at line 112 of file kalman_filter.h.

vcl_vector<vnl_double_3> kalman_filter::motions_ [private]

Definition at line 105 of file kalman_filter.h.

int kalman_filter::num_points_ [private]

Definition at line 109 of file kalman_filter.h.

vcl_vector<vcl_vector<bugl_gaussian_point_2d<double> > > kalman_filter::observes_ [private]

used for matching point. Definition at line 98 of file kalman_filter.h.

vcl_vector<double> kalman_filter::prob_ [private]

Definition at line 95 of file kalman_filter.h.

vnl_matrix_fixed<double, 6, 6> kalman_filter::Q0_ [private]

covariant matrix of 2D projection. Definition at line 127 of file kalman_filter.h.

vnl_matrix_fixed<double, 6, 6> kalman_filter::Q_ [private]

covariant matrix of state vector. Definition at line 118 of file kalman_filter.h.

int kalman_filter::queue_size_ [private]

Definition at line 108 of file kalman_filter.h.

vnl_matrix_fixed<double, 2, 2> kalman_filter::R_ [private]

initial covariant matrix of state vector. Definition at line 124 of file kalman_filter.h.

vcl_vector<double> kalman_filter::time_tick_ [private]

each element represents shooting times for this frame. Definition at line 101 of file kalman_filter.h.

vcl_vector<vcl_vector<vdgl_digital_curve_sptr> > kalman_filter::trackers_ [private]

each element of the vector represents a projection of the same 3D curves. Definition at line 103 of file kalman_filter.h.

vnl_vector_fixed<double, 6> kalman_filter::X_ [private]

state vector. Definition at line 115 of file kalman_filter.h.

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The documentation for this class was generated from the following file:

• contrib/brl/bmvl/brct/kalman_filter.h

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